CN111313749A - Surface-mounted piezoelectric-driven two-degree-of-freedom underwater mechanical arm and driving method thereof - Google Patents
Surface-mounted piezoelectric-driven two-degree-of-freedom underwater mechanical arm and driving method thereof Download PDFInfo
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- CN111313749A CN111313749A CN202010215871.0A CN202010215871A CN111313749A CN 111313749 A CN111313749 A CN 111313749A CN 202010215871 A CN202010215871 A CN 202010215871A CN 111313749 A CN111313749 A CN 111313749A
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- 230000000694 effects Effects 0.000 claims abstract description 5
- 239000000919 ceramic Substances 0.000 claims description 51
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- 239000011159 matrix material Substances 0.000 claims description 20
- 238000005452 bending Methods 0.000 claims description 14
- 239000003292 glue Substances 0.000 claims description 6
- 239000000758 substrate Substances 0.000 claims description 4
- 239000003822 epoxy resin Substances 0.000 claims description 3
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/001—Driving devices, e.g. vibrators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
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Abstract
The invention discloses a patch type piezoelectric driving two-degree-of-freedom underwater mechanical arm and a driving method thereof, wherein the mechanical arm comprises a plurality of sequentially connected unit arm sections and connecting components among the arm sections; when the piezoelectric vibrator works, a driving signal with a phase difference of pi/2 is applied to the piezoelectric vibrators on the unit arm sections, each point of the piezoelectric vibrator, which is in contact with the adjacent piezoelectric vibrator, generates a micro-amplitude elliptical motion, and generates a driving force through a friction effect, so that the rotation of the unit arm sections around the piezoelectric vibrators of the adjacent unit arm sections and the rotation of the unit arm sections around the axes of the piezoelectric vibrators of the unit arm sections can be respectively realized, and the two-degree-of-freedom rotation of the two arm sections in two orthogonal planes can be realized because the unit arm sections and the adjacent unit arm sections are orthogonal in space. The invention is easy to seal and realize microminiaturization, is not interfered by electromagnetism, can cut off the power and self-lock, does not need to carry out the mode coupling frequency consistency adjustment of different phase modes, reduces the restriction on the design size and shape of the mechanical arm and the like, and has important application prospect for the operation mechanical arm of a deep sea miniature robot in particular.
Description
Technical Field
The invention relates to the field of piezoelectric drive and robots, in particular to a patch type piezoelectric drive two-degree-of-freedom underwater mechanical arm and a driving method thereof.
Background
The development and utilization of ocean resources are always hot spots of research in all countries in the world, one important modern tool is an underwater robot, the cable-connected underwater robot is generally provided with a traditional industrial operation mechanical arm taking hydraulic pressure or a motor as a driving source, however, the cable-connected underwater robot is limited by the volume, energy and some special working environments, the miniature cable-free autonomous underwater robot is not generally provided with a proper operation mechanical arm, on one hand, the traditional hydraulic pressure or motor-driven mechanical arm has larger volume, high energy consumption and difficult miniaturization and subsequent waterproof treatment, and on the other hand, the miniature autonomous underwater robot has some special requirements on the mechanical arm, such as high pressure, low temperature, no electromagnetic interference, high control precision and the like.
Disclosure of Invention
The invention aims to solve the technical problem of providing a patch type piezoelectric driving two-degree-of-freedom underwater mechanical arm and a driving method thereof aiming at the defects related to the background technology.
The invention adopts the following technical scheme for solving the technical problems:
a patch type piezoelectric driving two-degree-of-freedom underwater mechanical arm comprises a plurality of N +1 unit arm sections and N connecting components, wherein N is a natural number greater than or equal to 1, and the N +1 unit arm sections are sequentially connected through the N connecting components;
the unit arm section comprises first to second piezoelectric vibrators, first to second connecting plates and first to fourth piezoelectric ceramic plates;
the first piezoelectric vibrator and the second piezoelectric vibrator respectively comprise a metal matrix and first to fourth piezoelectric ceramic pieces;
the metal matrix comprises a first stepped cylinder, a second stepped cylinder, a third stepped cylinder and a fourth stepped cylinder, wherein the diameters of the first stepped cylinder and the third stepped cylinder are equal and larger than that of the second stepped cylinder; two end faces of the second stepped cylinder are fixedly connected with one end face of the first stepped cylinder and one end face of the third stepped cylinder respectively, and the first stepped cylinder, the second stepped cylinder and the third stepped cylinder are coaxial; four rectangular patch grooves are uniformly formed in the center of the second stepped cylindrical column wall in the circumferential direction;
the first piezoelectric ceramic pieces, the second piezoelectric ceramic pieces, the fourth piezoelectric ceramic pieces, the third piezoelectric ceramic pieces, the second piezoelectric ceramic pieces, the fourth piezoelectric ceramic pieces and the plane where the first piezoelectric ceramic pieces and the second piezoelectric ceramic pieces are located are mutually perpendicular;
the first to fourth piezoelectric ceramics are used for inputting external driving signals to enable the metal matrix to vibrate;
the first connecting plate and the second connecting plate are arranged in parallel, and two ends of the first connecting plate and two ends of the second connecting plate are respectively and vertically and fixedly connected with a first-order bending vibration node of a second stepped cylinder of the first piezoelectric vibrator and a second piezoelectric vibrator;
the connecting assembly includes first to fourth sliding bearing rings, and first to fourth double hook springs;
the first sliding bearing ring, the second sliding bearing ring, the third sliding bearing ring and the fourth sliding bearing ring are all circular, and a first connecting hole and a second connecting hole which are connected through a circle center are formed in the first sliding bearing ring, the second sliding bearing ring and the third sliding bearing ring; the directions of the spring hooks at the two ends of the first to fourth double-hook springs are all vertical to each other;
one ends of the first double-hook spring and the second double-hook spring are respectively connected with the first connecting hole and the second connecting hole of the first sliding bearing ring, and the other ends of the first double-hook spring and the second double-hook spring are respectively connected with the first connecting holes of the third sliding bearing ring and the fourth sliding bearing ring; one end of each of the third double-hook spring and the fourth double-hook spring is connected with the first connecting hole and the second connecting hole of the second sliding bearing ring respectively, and the other end of each of the third double-hook spring and the fourth double-hook spring is connected with the second connecting holes of the third sliding bearing ring and the fourth sliding bearing ring respectively; the planes of the first sliding bearing ring and the second sliding bearing ring are parallel to each other, the planes of the third sliding bearing ring and the fourth sliding bearing ring are parallel to each other, and the planes of the first sliding bearing ring and the third sliding bearing ring are vertical to each other;
when unit arm festival and its adjacent unit arm festival link to each other through coupling assembling, coupling assembling first, the clearance fit on the second step cylinder of unit arm festival second piezoelectric vibrator metal matrix is overlapped to the second sliding bearing collar, coupling assembling's third, clearance fit on the second step cylinder of adjacent unit arm festival first piezoelectric vibrator metal matrix is overlapped to the fourth sliding bearing collar, make first of unit arm festival second piezoelectric vibrator metal matrix, third step cylinder and adjacent unit arm festival first piezoelectric vibrator metal matrix first, third step cylinder quadrature offsets.
As a further optimization scheme of the patch type piezoelectric driving two-degree-of-freedom fully-open underwater mechanical arm, the first piezoelectric ceramic pieces, the second piezoelectric ceramic pieces, the third piezoelectric ceramic pieces, the fourth piezoelectric ceramic pieces and the fourth piezoelectric ceramic pieces are bonded and stuck in four rectangular patch grooves of a second stepped cylinder through epoxy resin glue, and waterproof glue is used for insulation treatment.
As a further optimization scheme of the patch type piezoelectric-driven two-degree-of-freedom fully-open underwater mechanical arm, a through hole is formed in the metal base body along the axis of the metal base body, and circular grooves coaxial with the second stepped cylinder are formed in one end, away from the second stepped cylinder, of the first stepped cylinder and one end, away from the second stepped cylinder, of the third stepped cylinder.
As a further optimization scheme of the patch type piezoelectric driving two-degree-of-freedom fully-open underwater mechanical arm, two ends of each of the first connecting plate and the second connecting plate are provided with symmetrical mounting round holes, and the middle of each of the first connecting plate and the second connecting plate is provided with a rectangular hole;
the two ends of the first connecting plate and the second connecting plate are connected with the second stepped cylinder of the first piezoelectric vibrator and the second piezoelectric vibrator in an interference fit mode through mounting round holes of the first connecting plate and the second connecting plate respectively.
The invention also discloses a unit arm section driving method of the patch type piezoelectric driving two-degree-of-freedom fully-open underwater mechanical arm, which comprises the following steps:
the first simple harmonic driving signal is applied to the first piezoelectric ceramic piece and the third piezoelectric ceramic piece of the unit arm section, the second simple harmonic driving signal which has the same frequency as the first simple harmonic driving signal and has the time phase difference of pi/2 is applied to the second piezoelectric ceramic piece and the fourth piezoelectric ceramic piece of the unit arm section, two first-order bending vibration modes of the first piezoelectric vibrator and the second piezoelectric vibrator which are orthogonal with each other in time and space are excited, each point at two ends of a metal base body of the first-order bending vibration mode generates micro-amplitude elliptical motion, the first piezoelectric vibrator and the second piezoelectric vibrator of the adjacent unit arm section provide support for the first-order bending vibration modes to generate friction force, and the driving force is generated through the friction effect, so that the unit arm section rotates relative to the adjacent.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
1. compared with the traditional electromagnetic and hydraulic press driving mechanical arm, the mechanical arm has the advantages of simple structure, light weight, no need of mechanisms such as gear reduction and the like, easiness in sealing, easiness in realizing microminiaturization, low running noise, easiness in realizing low speed and large torque, no electromagnetic interference and capability of power-off self-locking;
2. compared with other piezoelectric-actuated mechanical arms, the piezoelectric vibrator is of an axisymmetric structure, the first-order bending vibration in two orthogonal directions of the piezoelectric vibrator has natural two-phase modal frequency consistency, modal coupling frequency consistency adjustment of different phase modes is not needed, the limitation on the design size and shape of the mechanical arm is reduced, serialization and modularization design are easier to realize, the adjustable size of the mechanical arm is large along with different engineering application scenes, the engineering applicability is strong, and the piezoelectric vibrator has an important application prospect.
Drawings
FIG. 1 is a schematic structural diagram of a patch type piezoelectric driven two-degree-of-freedom underwater mechanical arm;
FIG. 2 is a schematic structural view of a unit arm segment;
FIG. 3 is a schematic view of the structure of a metal substrate;
FIG. 4 is a schematic view of the first connecting plate;
FIG. 5 is a schematic structural view of the connection assembly;
fig. 6 is a schematic view of applied voltage signals of the first to fourth piezoelectric ceramic plates;
FIG. 7 is a schematic view of a first order bending mode vibration of the second piezoelectric vibrator along the Z axis in the plane ZOX;
fig. 8 is a first-order bending vibration mode diagram of the second piezoelectric vibrator along the Z axis in the zy plane.
In the figure, 1-first unit arm segment, 2-connecting component, 3-first piezoelectric vibrator, 4-first connecting plate, 5-second piezoelectric vibrator, 6-second connecting plate, 7-first step cylinder, 8-second step cylinder, 9-third step cylinder, 10-rectangular patch groove, 11-mounting round hole on first connecting plate, 12-rectangular hole on first connecting plate, 13-first sliding bearing ring sleeve, 14-second sliding bearing ring sleeve, 15-third sliding bearing ring sleeve, 16-fourth sliding bearing ring sleeve, 17-first double-hook spring, 18-second double-hook spring, 19-third double-hook spring, 20-fourth double-hook spring.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.
The invention discloses a patch type piezoelectric driving two-degree-of-freedom underwater mechanical arm, which comprises a plurality of N +1 unit arm sections and N connecting components, wherein N is a natural number more than or equal to 1, and the N +1 unit arm sections are sequentially connected through the N connecting components.
As shown in fig. 2, the unit arm section includes first to second piezoelectric vibrators, first to second connection plates, and first to fourth piezoelectric ceramic plates.
The first piezoelectric vibrator and the second piezoelectric vibrator respectively comprise a metal matrix and first to fourth piezoelectric ceramic pieces;
as shown in fig. 3, the metal substrate includes first to third stepped cylinders, wherein the diameters of the first and third stepped cylinders are equal and larger than the diameter of the second stepped cylinder; two end faces of the second stepped cylinder are fixedly connected with one end face of the first stepped cylinder and one end face of the third stepped cylinder respectively, and the first stepped cylinder, the second stepped cylinder and the third stepped cylinder are coaxial; four rectangular patch grooves are uniformly formed in the circumferential direction of the center of the second stepped cylindrical column wall.
The metal base body is provided with a through hole along the axis, and the first step cylinder is far away from the cylindrical one end of the second step, and the cylindrical one end of the second step is far away from the third step cylinder is provided with a circular groove coaxial with the second step cylinder.
The first piezoelectric ceramic pieces, the second piezoelectric ceramic pieces, the fourth piezoelectric ceramic pieces, the third piezoelectric ceramic pieces, the second piezoelectric ceramic pieces, the fourth piezoelectric ceramic pieces and the plane where the first piezoelectric ceramic pieces and the second piezoelectric ceramic pieces are located are mutually perpendicular; the first to fourth piezoelectric ceramics are used for inputting an external driving signal to enable the metal matrix to vibrate.
The first connecting plate and the second connecting plate are arranged in parallel, and two ends of the first connecting plate and two ends of the second connecting plate are respectively and vertically and fixedly connected with a first-order bending vibration node of a second stepped cylinder of the first piezoelectric vibrator and a second piezoelectric vibrator; as shown in fig. 4, both ends of the first and second connecting plates are provided with symmetrical mounting round holes, and the middle part is provided with a rectangular hole; the two ends of the first connecting plate and the second connecting plate are connected with the second stepped cylinder of the first piezoelectric vibrator and the second piezoelectric vibrator in an interference fit mode through mounting round holes of the first connecting plate and the second connecting plate respectively.
As shown in fig. 5, the connecting assembly includes first to fourth sliding bearing rings, and first to fourth double hook springs;
the first sliding bearing ring, the second sliding bearing ring, the third sliding bearing ring and the fourth sliding bearing ring are all circular, and a first connecting hole and a second connecting hole which are connected through a circle center are formed in the first sliding bearing ring, the second sliding bearing ring and the third sliding bearing ring; the directions of the spring hooks at the two ends of the first to fourth double-hook springs are all vertical to each other;
one ends of the first double-hook spring and the second double-hook spring are respectively connected with the first connecting hole and the second connecting hole of the first sliding bearing ring, and the other ends of the first double-hook spring and the second double-hook spring are respectively connected with the first connecting holes of the third sliding bearing ring and the fourth sliding bearing ring; one end of each of the third double-hook spring and the fourth double-hook spring is connected with the first connecting hole and the second connecting hole of the second sliding bearing ring respectively, and the other end of each of the third double-hook spring and the fourth double-hook spring is connected with the second connecting holes of the third sliding bearing ring and the fourth sliding bearing ring respectively; the planes of the first sliding bearing ring and the second sliding bearing ring are parallel to each other, the planes of the third sliding bearing ring and the fourth sliding bearing ring are parallel to each other, and the planes of the first sliding bearing ring and the third sliding bearing ring are perpendicular to each other.
When unit arm festival and its adjacent unit arm festival link to each other through coupling assembling, coupling assembling first, the clearance fit on the second step cylinder of unit arm festival second piezoelectric vibrator metal matrix is overlapped to the second sliding bearing collar, coupling assembling's third, clearance fit on the second step cylinder of adjacent unit arm festival first piezoelectric vibrator metal matrix is overlapped to the fourth sliding bearing collar, make first of unit arm festival second piezoelectric vibrator metal matrix, third step cylinder and adjacent unit arm festival first piezoelectric vibrator metal matrix first, third step cylinder quadrature offsets.
The first to fourth piezoelectric ceramic pieces are bonded and stuck in the four rectangular patch grooves of the second stepped cylinder through epoxy resin glue, and waterproof glue is used for insulation treatment.
The invention also discloses a unit arm section driving method of the patch type piezoelectric driving two-degree-of-freedom fully-open underwater mechanical arm, which comprises the following steps:
as shown in fig. 6, a first simple harmonic drive signal is applied to the first and third piezoelectric ceramic pieces of a unit arm section, a second simple harmonic drive signal having the same frequency as the first simple harmonic drive signal and having a pi/2 time phase difference is applied to the second and fourth piezoelectric ceramic pieces of the unit arm section, and two first-order bending vibration modes of the first and second piezoelectric vibrators, which are orthogonal to each other in time and space, are excited, as shown in fig. 7 and 8, so that each point at two ends of the metal substrate generates a micro-amplitude elliptical motion, the first and second piezoelectric vibrators of adjacent unit arm sections provide support for the first and second piezoelectric vibrators to generate a friction force, and a driving force is generated through the friction effect, so that the unit arm section rotates relative to the adjacent unit arm sections.
When the piezoelectric vibrator works, driving signals can be applied to the piezoelectric vibrators of the adjacent unit arm sections respectively, and the rotation of the unit arm sections around the circumferential direction of the piezoelectric vibrators of the adjacent unit arm sections and the rotation of the unit arm sections around the axis of the piezoelectric vibrator per se can be achieved respectively. And because the unit arm sections are orthogonal to the adjacent unit arm sections in space, the driving signals are applied to the piezoelectric vibrators corresponding to the two unit arm sections, and the two-degree-of-freedom rotation of the two arm sections in an orthogonal plane can be realized.
Compared with the traditional underwater operation mechanical arm, the patch type piezoelectric driving two-degree-of-freedom underwater mechanical arm and the driving method thereof have the advantages that the structure is simple, the weight is light, the miniaturization and sealing processing are easy to realize, the electromagnetic interference is avoided, the power failure self-locking can be realized, the piezoelectric vibrator is of an axisymmetric structure, the consistency of the two-phase modal frequency of the same-order bending vibration in two orthogonal directions is utilized, the consistency adjustment of the modal coupling frequency of different-phase modes is not needed, the limitation on the design size and the shape of the mechanical arm is reduced, the serialization and the modularized design are easy to realize, the design period is shortened, and the patch type piezoelectric driving two-degree-of-freedom underwater mechanical arm has important application prospects for the operation.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A patch type piezoelectric driving two-degree-of-freedom underwater mechanical arm is characterized by comprising a plurality of N +1 unit arm sections and N connecting assemblies, wherein N is a natural number greater than or equal to 1, and the N +1 unit arm sections are sequentially connected through the N connecting assemblies;
the unit arm section comprises first to second piezoelectric vibrators, first to second connecting plates and first to fourth piezoelectric ceramic plates;
the first piezoelectric vibrator and the second piezoelectric vibrator respectively comprise a metal matrix and first to fourth piezoelectric ceramic pieces;
the metal matrix comprises a first stepped cylinder, a second stepped cylinder, a third stepped cylinder and a fourth stepped cylinder, wherein the diameters of the first stepped cylinder and the third stepped cylinder are equal and larger than that of the second stepped cylinder; two end faces of the second stepped cylinder are fixedly connected with one end face of the first stepped cylinder and one end face of the third stepped cylinder respectively, and the first stepped cylinder, the second stepped cylinder and the third stepped cylinder are coaxial; four rectangular patch grooves are uniformly formed in the center of the second stepped cylindrical column wall in the circumferential direction;
the first piezoelectric ceramic pieces, the second piezoelectric ceramic pieces, the fourth piezoelectric ceramic pieces, the third piezoelectric ceramic pieces, the second piezoelectric ceramic pieces, the fourth piezoelectric ceramic pieces and the plane where the first piezoelectric ceramic pieces and the second piezoelectric ceramic pieces are located are mutually perpendicular;
the first to fourth piezoelectric ceramics are used for inputting external driving signals to enable the metal matrix to vibrate;
the first connecting plate and the second connecting plate are arranged in parallel, and two ends of the first connecting plate and two ends of the second connecting plate are respectively and vertically and fixedly connected with a first-order bending vibration node of a second stepped cylinder of the first piezoelectric vibrator and a second piezoelectric vibrator;
the connecting assembly includes first to fourth sliding bearing rings, and first to fourth double hook springs;
the first sliding bearing ring, the second sliding bearing ring, the third sliding bearing ring and the fourth sliding bearing ring are all circular, and a first connecting hole and a second connecting hole which are connected through a circle center are formed in the first sliding bearing ring, the second sliding bearing ring and the third sliding bearing ring; the directions of the spring hooks at the two ends of the first to fourth double-hook springs are all vertical to each other;
one ends of the first double-hook spring and the second double-hook spring are respectively connected with the first connecting hole and the second connecting hole of the first sliding bearing ring, and the other ends of the first double-hook spring and the second double-hook spring are respectively connected with the first connecting holes of the third sliding bearing ring and the fourth sliding bearing ring; one end of each of the third double-hook spring and the fourth double-hook spring is connected with the first connecting hole and the second connecting hole of the second sliding bearing ring respectively, and the other end of each of the third double-hook spring and the fourth double-hook spring is connected with the second connecting holes of the third sliding bearing ring and the fourth sliding bearing ring respectively; the planes of the first sliding bearing ring and the second sliding bearing ring are parallel to each other, the planes of the third sliding bearing ring and the fourth sliding bearing ring are parallel to each other, and the planes of the first sliding bearing ring and the third sliding bearing ring are vertical to each other;
when unit arm festival and its adjacent unit arm festival link to each other through coupling assembling, coupling assembling first, the clearance fit on the second step cylinder of unit arm festival second piezoelectric vibrator metal matrix is overlapped to the second sliding bearing collar, coupling assembling's third, clearance fit on the second step cylinder of adjacent unit arm festival first piezoelectric vibrator metal matrix is overlapped to the fourth sliding bearing collar, make first of unit arm festival second piezoelectric vibrator metal matrix, third step cylinder and adjacent unit arm festival first piezoelectric vibrator metal matrix first, third step cylinder quadrature offsets.
2. The patch type piezoelectric-driven two-degree-of-freedom fully-open underwater mechanical arm according to claim 1, wherein the first to fourth piezoelectric ceramic plates are bonded and adhered in four rectangular patch grooves of the second stepped cylinder by epoxy resin glue, and waterproof glue is used for insulation treatment.
3. The patch type piezoelectric-driven two-degree-of-freedom fully-open underwater mechanical arm according to claim 1, wherein the metal substrate is provided with a through hole along an axis thereof, and both an end of the first stepped cylinder away from the second stepped cylinder and an end of the third stepped cylinder away from the second stepped cylinder are provided with circular grooves coaxial with the second stepped cylinder.
4. The patch type piezoelectric driving two-degree-of-freedom fully-open underwater mechanical arm according to claim 1, wherein the first connecting plate and the second connecting plate are provided with symmetrical mounting round holes at both ends and a rectangular hole in the middle;
the two ends of the first connecting plate and the second connecting plate are connected with the second stepped cylinder of the first piezoelectric vibrator and the second piezoelectric vibrator in an interference fit mode through mounting round holes of the first connecting plate and the second connecting plate respectively.
5. The method for driving the unit arm segment of the patch type piezoelectric driven two-degree-of-freedom fully-open underwater mechanical arm according to claim 1, comprising the following steps:
the first simple harmonic driving signal is applied to the first piezoelectric ceramic piece and the third piezoelectric ceramic piece of the unit arm section, the second simple harmonic driving signal which has the same frequency as the first simple harmonic driving signal and has the time phase difference of pi/2 is applied to the second piezoelectric ceramic piece and the fourth piezoelectric ceramic piece of the unit arm section, two first-order bending vibration modes of the first piezoelectric vibrator and the second piezoelectric vibrator which are orthogonal with each other in time and space are excited, each point at two ends of a metal base body of the first-order bending vibration mode generates micro-amplitude elliptical motion, the first piezoelectric vibrator and the second piezoelectric vibrator of the adjacent unit arm section provide support for the first-order bending vibration modes to generate friction force, and the driving force is generated through the friction effect, so that the unit arm section rotates relative to the adjacent.
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| CN202010215871.0A CN111313749A (en) | 2020-03-25 | 2020-03-25 | Surface-mounted piezoelectric-driven two-degree-of-freedom underwater mechanical arm and driving method thereof |
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| CN202010215871.0A CN111313749A (en) | 2020-03-25 | 2020-03-25 | Surface-mounted piezoelectric-driven two-degree-of-freedom underwater mechanical arm and driving method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112171712A (en) * | 2020-09-10 | 2021-01-05 | 南京航空航天大学 | Piezoelectric-driven multi-degree-of-freedom space mechanical joint and working method thereof |
| CN113364340A (en) * | 2021-06-18 | 2021-09-07 | 南京航空航天大学 | Microminiature spiral motion amphibious bionic propeller and driving method thereof |
-
2020
- 2020-03-25 CN CN202010215871.0A patent/CN111313749A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112171712A (en) * | 2020-09-10 | 2021-01-05 | 南京航空航天大学 | Piezoelectric-driven multi-degree-of-freedom space mechanical joint and working method thereof |
| CN113364340A (en) * | 2021-06-18 | 2021-09-07 | 南京航空航天大学 | Microminiature spiral motion amphibious bionic propeller and driving method thereof |
| CN113364340B (en) * | 2021-06-18 | 2022-07-08 | 南京航空航天大学 | Microminiature spiral motion amphibious bionic propeller and driving method thereof |
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